CN116605087A - Battery replacement method and device, electronic equipment and storage medium - Google Patents
Battery replacement method and device, electronic equipment and storage medium Download PDFInfo
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- CN116605087A CN116605087A CN202310658460.2A CN202310658460A CN116605087A CN 116605087 A CN116605087 A CN 116605087A CN 202310658460 A CN202310658460 A CN 202310658460A CN 116605087 A CN116605087 A CN 116605087A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application discloses a battery replacement method, a battery replacement device, electronic equipment and a storage medium. The method specifically comprises the following steps: acquiring a first laser distance and a second laser distance corresponding to two measuring points detected by a laser instrument on two sides of a target battery; wherein the two measurement points belong to different sides of the target battery; according to rising edge signals and falling edge signals of the two measuring points at different sides of the battery scanned by the laser instrument, recording a first moving distance and a second moving distance of the laser instrument in walking; determining a hoisting judgment strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance; and replacing the target battery according to the hoisting judgment strategy. According to the technical scheme, the position and the posture of the target battery in the battery replacement warehouse can be effectively and accurately determined, so that the hoisting robot can rapidly judge and hoist and replace the battery, the speed and the efficiency of battery replacement are greatly improved, and the user experience is improved.
Description
Technical Field
The present application relates to the field of electric vehicles, and in particular, to a battery replacement method, a device, an electronic apparatus, and a storage medium.
Background
With the great development and the gradual popularization of new energy automobiles, more and more users start to purchase and use the electric automobiles, and even select electric trucks for transportation operation. The new energy is held, so that the transportation cost is greatly reduced, and the welcome of a large number of users is received.
At present, the supply mode of the power battery of the electric vehicle generally comprises two modes of charging and replacing the battery of the electric vehicle, but the charging time of the charging mode is longer, so that the service efficiency of the vehicle is affected. Related personnel develop battery power conversion stations of electric vehicles, and for general electric vehicles, batteries are positioned on a vehicle chassis, and the battery power conversion operation is performed by disassembling and assembling the chassis. For an electric truck, a battery is mounted on the back of a vehicle and needs to be hoisted, manual treatment is still relied on for hoisting the battery in the prior art, so that the power conversion speed is low, the efficiency is low, and the user experience is influenced.
Disclosure of Invention
The application provides a battery replacement method, a battery replacement device, electronic equipment and a storage medium, which improve the replacement speed and efficiency of a battery and improve the user experience.
According to an aspect of the present application, there is provided a battery replacement method including:
acquiring a first laser distance and a second laser distance corresponding to two measuring points detected by a laser instrument on two sides of a target battery; wherein the two measurement points belong to different sides of the target battery;
according to rising edge signals and falling edge signals of two measuring points on different sides of a battery scanned by a laser instrument, recording a first moving distance and a second moving distance of the laser instrument in walking;
determining a hoisting judgment strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance;
and replacing the target battery according to the hoisting judgment strategy.
According to another aspect of the present application, there is provided a battery replacement device including:
the laser distance acquisition module is used for acquiring a first laser distance and a second laser distance corresponding to two measuring points detected by the laser instrument on two sides of the target battery; wherein the two measurement points belong to different sides of the target battery;
the moving distance recording module is used for recording a first moving distance and a second moving distance of the laser instrument walking according to rising edge signals and falling edge signals of two measuring points at different sides of the battery scanned by the laser instrument;
the hoisting strategy judgment module is used for determining a hoisting judgment strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance;
and the target battery replacement module is used for replacing the target battery according to the hoisting judgment strategy.
According to another aspect of the present application, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the battery replacement method according to any one of the embodiments of the present application.
According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the battery replacement method according to any one of the embodiments of the present application.
According to the technical scheme, the two laser distances and the two moving distances are acquired at the two measuring points of the different sides of the target battery, so that the hoisting robot is helped to judge whether hoisting can be carried out or not, and the battery can be replaced.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1A is a flowchart of a battery replacement method according to a first embodiment of the present application;
fig. 1B is a schematic diagram of laser ranging according to a first embodiment of the present application;
FIG. 1C is a schematic diagram of a measurement point provided according to a first embodiment of the present application;
FIG. 1D is a schematic diagram of a laser standard distance and a movement standard distance according to a first embodiment of the present application;
FIG. 1E is an illustration of a battery bias provided in accordance with a first embodiment of the present application;
fig. 2 is a schematic structural view of a battery replacing device according to a second embodiment of the present application;
fig. 3 is a schematic structural view of an electronic device implementing a battery replacement method according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1A is a flowchart of a battery replacement method according to an embodiment of the present application, where the method may be performed by a battery replacement device, the battery replacement device may be implemented in hardware and/or software, and the battery replacement device may be configured in an electronic device. As shown in fig. 1A, the method includes:
s110, acquiring a first laser distance and a second laser distance corresponding to two measuring points detected by a laser instrument on two sides of a target battery; wherein the two measurement points belong to different sides of the target cell.
The laser instrument can be an instrument for measuring distance by adopting a laser ranging technology. The target battery may be a battery that needs to be replaced. In the applicable scenario of the embodiment of the application, the battery of the electric automobile is generally installed at the back of the vehicle, but not on the chassis of the vehicle, and the battery needs to be lifted for replacement by the related lifting equipment. Since the laser is typically scanned laterally from side to side and the distance is monitored, the battery of the vehicle can be translated into a planar surface from a top view for battery replacement location determination. The laser may be mounted for movement on a wall of the change warehouse or mounted directly on a door of the change warehouse following a sliding door, the direction of scanning being unidirectional, such as scanning from left to right or right to left.
As shown in fig. 1B, fig. 1B shows a top view of the battery replacement warehouse, and assuming that the scanning direction of the laser is from right to left, the laser emitted by the laser will record the distances between different positions on the battery and the plane of the laser when the laser is scanned to the battery of the vehicle.
Of course, the driver cannot ensure that the rear plane of the vehicle battery and the plane of the laser are perfectly parallel when stopping the vehicle into the battery change warehouse. Therefore, a situation in which the vehicle battery is inclined with respect to the plane in which the laser is located is liable to occur, as shown in fig. 1C. In the top view of fig. 1C, the laser scans from right to left, which tends to scan two different sides of the vehicle battery (in particular, two adjacent vertices of the battery may be counted as different sides), two measurement points are selected on the two adjacent different sides, and the distance is acquired from the battery at the two measurement points. The measurement points may be set by the relevant technician prior to scanning by the laser or may be selected from a plurality of measurement results, whether set or selected, determined by the relevant technician based on actual conditions and/or human experience.
Of course, it may also be determined in an automated manner, for example, the laser machine scans in real time during translation from right to left on its mounting plane, when the presence of the battery is first identified (i.e., vertex D in fig. 1C), and the scanned distance signal will have a larger step; similarly, when the laser completely leaves the cell (i.e., leaves the vertex D in fig. 1C), the scanned distance signal will also have a larger step; when the laser scans across the vertex C in fig. 1C, the scanned distance signal becomes smaller and then larger, that is, the distance signal does not change linearly at the three vertices B, C and D in fig. 1C, and two of the vertices may be selected as measurement points.
The measurement points may be set as the first measurement point and the second measurement point in the order of scanning. The distance information obtained by detection at the first measuring point is stored as a first laser distance; similarly, the distance information detected and obtained at the second measurement point is stored as the second laser distance.
S120, according to rising edge signals and falling edge signals of two measuring points on different sides of the battery scanned by the laser instrument, recording a first moving distance and a second moving distance of the laser instrument in walking.
The laser instrument triggers corresponding rising edge signals and falling edge signals from scanning to the battery edge and from scanning to disengaging from the battery edge in the process of scanning the battery. Therefore, it is more efficient and accurate for the measurement points to select the vertices of the cell edges.
It can be understood that when the laser scanning is not performed, the laser instrument can stand by at the standby position, and in the scanning process, the laser instrument horizontally moves on the installation plane where the laser instrument is positioned, and the moving distance in the horizontal direction also needs to be recorded, so that the battery offset condition can be calculated conveniently.
Correspondingly, the horizontal movement distance determined at the first measurement point is the first movement distance, and the horizontal movement distance determined at the second measurement point is the second movement distance. It can be appreciated that the first movement distance is recorded while the laser instrument is moved to the first measurement point to obtain the first laser distance; similarly, the second movement distance is recorded while the laser instrument is moved to a second measurement point to obtain a second laser distance. That is, the acquisition of the first laser distance may trigger the determination of the first movement distance; the acquisition of the second laser distance may trigger the determination of the second movement distance.
In an alternative embodiment, the first and second travel distances traveled by the laser are recorded by an encoder.
In order to record the translation distance of the laser instrument on the installation plane conveniently, the laser instrument and the encoder can be synchronously installed, so that the encoder records the distance travelled by the laser instrument. Of course, in actual situation, the laser instrument can be installed on the door of the warehouse, and the target battery on the vehicle can be scanned in the process of opening and closing the door, so that the encoder can be installed on the door, and the moving distance of the door is recorded, which is equivalent to the moving distance of the laser instrument.
S130, determining a hoisting judgment strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance.
The hoisting judgment strategy can be to judge whether the battery can be hoisted and replaced. It will be appreciated that the location of the target battery in the battery change warehouse may be determined based on the first laser distance, the second laser distance, the first travel distance, and the second travel distance, thereby helping the hoist robot identify the specific location of the target battery with the hoist, and determining whether a hoist change may be automatically performed.
In an optional embodiment, the determining the lifting judgment strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance may include: determining front-back deviation of the target battery according to the first laser distance and the second laser distance; determining left-right deviation of the target battery according to the first moving distance and the second moving distance; and determining a hoisting judgment strategy of the target battery according to the front-back deviation and the left-right deviation.
The front-rear deviation may be a deviation of a distance between the target battery and the standard position in the vehicle longitudinal direction after entering the battery change warehouse with the vehicle. It can be understood that a certain ideal replacement position is used as a standard position in the replacement warehouse, and if the target battery is positioned at the standard position, the battery can be directly replaced without lifting the robot to adjust and match the position. This standard location may be determined at the time of construction of the battery change warehouse. The specific embodiment of the labeling position can refer to the position of the center point of the battery in the battery replacement warehouse. Thus, there is also a fixed reference distance between the laser and the standard position. Similarly, the left-right deviation may be a deviation in distance between the target battery and the standard position in the vehicle width direction after entering the battery change warehouse with the vehicle.
Then, it is conceivable that the first laser distance and the second laser distance are used as distance values obtained by detecting the target battery by the laser instrument in the vehicle length direction, so as to help calculate the distance between the current position of the target battery and the plane of the laser instrument, and further calculate the front-back deviation between the current position of the target battery and the standard position. The first moving distance and the second moving distance are used as distance values obtained by detecting the target battery in the vehicle width direction, and can help calculate the left-right deviation between the current position of the target battery and the standard position. On the basis of determining the front-back deviation and the left-right deviation, the overall position deviation condition between the current position and the standard position of the target battery can be determined, and the hoisting robot can be helped to judge whether the battery can be hoisted and replaced at the position according to the overall position deviation condition.
The two laser distances and the two moving distances determined through the movement of the laser instrument are used for judging whether the battery can be lifted and replaced or not, helping the rapid judgment of the lifting robot and being beneficial to improving the battery replacement efficiency.
Optionally, the determining the front-to-back deviation of the target battery according to the first laser distance and the second laser distance may include: according to the first laser distance and the second laser distance, determining the longitudinal distance of the center point of the current position of the target battery; and determining the front-back deviation according to the longitudinal distance and the preset laser standard distance.
It should be noted that, there is a fixed reference distance between the laser and the standard position, and the reference distance may include a laser standard distance and a moving standard distance, where the laser standard distance may be a distance e (as shown in fig. 1D) between a plane of the laser and a plane of a rear side of the battery, where the plane of the laser is measured by the vehicle battery at the standard position (where the laser is aligned with the center of the battery); the standard distance of movement may be the distance c the laser moves from its standby position to when the laser is centered on the battery. Then, the distance between the center point of the current position of the target battery and the plane where the laser instrument is located is calculated through the first laser distance and the second laser distance, and then the front-back deviation between the current position of the target battery and the standard position can be obtained through comparison with the standard laser distance.
As shown in fig. 1E, a first laser distance Y1 and a first moving distance X1 are obtained at a first measurement point; a second laser distance Y2 and a second movement distance X2 are obtained at the second measuring point. The fore-and-aft deviation n is calculated according to the following formula:
optionally, the determining the left-right deviation of the target battery according to the first moving distance and the second moving distance may include: determining the transverse distance of the center point of the current position of the target battery according to the first moving distance and the second moving distance; and determining left-right deviation according to the transverse distance and the preset movement standard distance.
Similarly, the distance between the center point of the current position of the target battery and the preparation position of the laser instrument in the transverse direction is calculated through the first moving distance and the second moving distance, and then the distance is compared with the moving standard distance, so that the left-right deviation between the position of the target battery and the standard position can be obtained. The left-right deviation m is calculated according to the following formula:
the front-back deviation and the left-right deviation are calculated according to the first laser distance, the second laser distance, the first moving distance and the second moving distance, so that the deviation condition between the current position and the standard position of the target battery in the battery replacement warehouse is determined, the battery position of the hoisting robot can be effectively helped to be confirmed, the hoisting position and the hoisting gesture are adaptively adjusted, and the battery replacement efficiency is further improved.
In another alternative embodiment, determining the lifting judgment strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance may include: determining a deviation angle of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance; and determining a hoisting judgment strategy of the target battery according to the deviation angle.
It will be appreciated that, in addition to the deviation distance, the deviation angle is also a parameter that can significantly represent the degree of deviation between the current position and the standard position of the target battery. As shown in fig. 1E, the posture of the target battery is different from that of the battery standard position in fig. 1D, and the driver cannot ensure that the battery is completely identical to the posture of the standard position when the vehicle is parked in the battery change warehouse. Then the angle θ in fig. 1E is the deviation angle, and the specific calculation formula is as follows:
θ＝arctanθ；
and S140, replacing the target battery according to the hoisting judgment strategy.
According to the front-back deviation, the left-right deviation and the deviation angle determined in the previous steps, whether the battery can be hoisted or not can be determined, and the hoisting gesture can be adjusted according to the deviations, so that the battery can be quickly replaced according to different conditions.
In an optional embodiment, the replacing the target battery according to the lifting judgment strategy may include: and if the front-back deviation, the left-right deviation and the deviation angle all accord with the preset deviation threshold, controlling the hoisting robot to replace the target battery according to the front-back deviation and the left-right deviation.
The deviation threshold may be a defined value that is set differently for the front-rear deviation, the left-right deviation, and the deviation angle, respectively. For example, it may be determined whether the deviation angle exceeds a preset first threshold, whether the front-to-rear deviation exceeds a second threshold, and whether the left-to-right deviation exceeds a preset third threshold. Of course, all deviation thresholds may be determined by the skilled artisan based on a number of experiments and/or human experience, and embodiments of the present application are not limited in this regard.
If at least one of the three deviation values exceeds the deviation threshold value, the driver is required to readjust the posture of the vehicle; if the judgment of the three deviation thresholds is met, the positioning of the hoisting robot can be adjusted according to the front-back deviation and the left-right deviation, and the target battery is hoisted and replaced. It can be understood that the hoisting and replacing power is different from the chassis power replacing, and the hoisting robot has flexible characteristics, so that under the condition of meeting the deviation threshold corresponding to the deviation angle, the hoisting and replacing of the battery can be successfully performed by only adjusting the positioning of the strip robot without adjusting the posture, that is, the embodiment of the application can allow the vehicle not to be aligned with the standard position of the battery, and the power replacing operation can be rapidly performed, thereby further improving the replacing efficiency of the battery.
According to the technical scheme, the two laser distances and the two moving distances are acquired at the two measuring points of the different sides of the target battery, so that the hoisting robot is helped to judge whether hoisting can be carried out or not, and the battery can be replaced.
Example two
Fig. 2 is a schematic structural diagram of a battery replacement device according to a third embodiment of the present application. As shown in fig. 2, the apparatus 200 includes:
the laser distance acquisition module 210 is configured to acquire a first laser distance and a second laser distance corresponding to two measurement points detected by the laser instrument at two sides of the target battery; wherein the two measurement points belong to different sides of the target battery;
a moving distance recording module 220, configured to record a first moving distance and a second moving distance of the laser according to rising edge and falling edge signals of two measuring points of different sides of the battery scanned by the laser;
the hoisting strategy judging module 230 is configured to determine a hoisting judging strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance;
and the target battery replacement module 240 is configured to replace the target battery according to the hoisting judgment policy.
According to the technical scheme, the two laser distances and the two moving distances are acquired at the two measuring points of the different sides of the target battery, so that the hoisting robot is helped to judge whether hoisting can be carried out or not, and the battery can be replaced.
In an alternative embodiment, the lifting policy determining module 330 may include:
a front-rear deviation determining unit for determining the front-rear deviation of the target battery according to the first laser distance and the second laser distance;
a left-right deviation determining unit for determining a left-right deviation of the target battery according to the first moving distance and the second moving distance;
and the judgment strategy determining unit is used for determining the lifting judgment strategy of the target battery according to the front-back deviation and the left-right deviation.
In an alternative embodiment, the front-rear deviation determining unit may include:
the longitudinal distance determining subunit is used for determining the longitudinal distance of the center point of the current position of the target battery according to the first laser distance and the second laser distance;
and the front-back deviation determining subunit is used for determining the front-back deviation according to the longitudinal distance and the preset laser standard distance.
In an alternative embodiment, the left-right deviation determining unit may include:
a lateral distance determining subunit, configured to determine a lateral distance of a center point of a current position of the target battery according to the first moving distance and the second moving distance;
and the left-right deviation determining subunit is used for determining left-right deviation according to the transverse distance and the preset movement standard distance.
In an alternative embodiment, the lifting policy determining module 230 may include:
the deviation angle determining unit is used for determining the deviation angle of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance;
and the hoisting strategy determining unit is used for determining a hoisting judgment strategy of the target battery according to the deviation angle.
In an alternative embodiment, the target battery replacement module 240 may be specifically configured to:
and if the front-back deviation, the left-right deviation and the deviation angle all accord with the preset deviation threshold, controlling the hoisting robot to replace the target battery according to the front-back deviation and the left-right deviation.
In an alternative embodiment, the first and second travel distances traveled by the laser are recorded by an encoder.
The battery replacement device provided by the embodiment of the application can execute the battery replacement method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of executing the battery replacement methods.
Example III
Fig. 3 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a battery replacement method.
In some embodiments, the battery replacement method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the battery replacement method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the battery replacement method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present application, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present application are achieved, and the present application is not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (10)
1. A battery replacement method, characterized by comprising:
acquiring a first laser distance and a second laser distance corresponding to two measuring points detected by a laser instrument on two sides of a target battery; wherein the two measurement points belong to different sides of the target battery;
recording a first moving distance and a second moving distance of the laser instrument according to rising edge signals and falling edge signals of the two measuring points at different sides of the battery scanned by the laser instrument;
determining a hoisting judgment strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance;
and replacing the target battery according to the hoisting judgment strategy.
2. The method of claim 1, wherein the determining the lifting determination strategy for the target battery based on the first laser distance, the second laser distance, the first travel distance, and the second travel distance comprises:
determining front-to-back deviation of the target battery according to the first laser distance and the second laser distance;
determining left-right deviation of the target battery according to the first moving distance and the second moving distance;
and determining a hoisting judgment strategy of the target battery according to the front-back deviation and the left-right deviation.
3. The method of claim 2, wherein the determining the front-to-back bias of the target battery based on the first laser distance and the second laser distance comprises:
determining the longitudinal distance of the center point of the current position of the target battery according to the first laser distance and the second laser distance;
and determining the front-back deviation according to the longitudinal distance and a preset laser standard distance.
4. The method of claim 2, wherein the determining the left-right deviation of the target battery based on the first and second travel distances comprises:
determining the transverse distance of the center point of the current position of the target battery according to the first moving distance and the second moving distance;
and determining the left deviation and the right deviation according to the transverse distance and a preset movement standard distance.
5. The method of claim 2, wherein the determining the lifting determination strategy for the target battery based on the first laser distance, the second laser distance, the first movement distance, and the second movement distance comprises:
determining a deviation angle of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance;
and determining a hoisting judgment strategy of the target battery according to the deviation angle.
6. The method of claim 5, wherein the replacing the target battery according to the hoist determination strategy comprises:
and if the front-back deviation, the left-right deviation and the deviation angle all accord with a preset deviation threshold, controlling the hoisting robot to replace the target battery according to the front-back deviation and the left-right deviation.
7. The method of any one of claims 1-6, wherein the first and second travel distances traveled by the laser are recorded by an encoder.
8. A battery replacement device, characterized by comprising:
the laser distance acquisition module is used for acquiring a first laser distance and a second laser distance corresponding to two measuring points detected by the laser instrument on two sides of the target battery; wherein the two measurement points belong to different sides of the target battery;
the moving distance recording module is used for recording a first moving distance and a second moving distance of the laser instrument according to rising edge signals and falling edge signals of the two measuring points at different sides of the battery scanned by the laser instrument;
the hoisting strategy judging module is used for determining a hoisting judging strategy of the target battery according to the first laser distance, the second laser distance, the first moving distance and the second moving distance;
and the target battery replacement module is used for replacing the target battery according to the hoisting judgment strategy.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the battery replacement method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the battery replacement method of any one of claims 1-7 when executed.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117922502A (en) * | 2024-03-20 | 2024-04-26 | 北京玖行智研交通科技有限公司 | Battery box hoisting method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117922502A (en) * | 2024-03-20 | 2024-04-26 | 北京玖行智研交通科技有限公司 | Battery box hoisting method and device |
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